LOCOMOTION
Models of Central Pattern Generators for the Locomotion of a Semi-Looper Robot
Guang Lei Liu, Keigo Watanabe, Kiyotaka Izumi
- Year
- 2005
- Citations
- 2
Abstract
To make a central pattern generator (CPG) for articulated robots, we survey two well-known oscillators, Mat-suoka's oscillator and Van der Pol (VDP) oscillator. In particular, we discuss how to connect each oscillator to construct a stable CPG network. Moreover, some CPG networks using such oscillators are designed for a semi-looper type robot with four links.
Keywords
Central pattern generatorVan der Pol oscillatorRobotCpG siteGenerator (circuit theory)Construct (python library)Computer scienceControl theory (sociology)Topology (electrical circuits)Physics
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